In this paper, a novel performance index for the kinematic optimization of robotic
manipulators is presented. The index is based on the condition number of the Jacobian …

The conditioning index of a serial robotic manipulator is de fined in this article in terms of the
reciprocal of its minimum condition number. The condition number of a manipulator is …

This paper presents new dexterity indices that can be applied to planar and spatial
manipulators. These indices are based on the condition number of the Jacobian matrix of …

The kinetostatic accuracy of a manipulator depends not only on its configuration but also on
its architecture. The focus of this paper is on the study of the relation between the …

Two optimization studies on the design of a three degree of freedom translational parallel
platform are conducted and the results are compared. The objective function of the first study …

This paper addresses the general issue of optimal kinematic design of parallel mechanisms.
Optimal design is one of the most challenging issues in the field. To solve the design …

This paper addresses the graphical representation of performances and the optimum design
issue of the planar 5R symmetrical parallel mechanism. In this the paper, some performance …

Development of optimal design methods for parallel manipulators is important in obtaining
an optimal architecture or pose for the best kinetostatic performance. The use of …

The design of redundant isotropic architectures for robotic nia nipulators is the subject of this
article. A manipulator is said to have a redundant isotropic architecture if (1) its number of …

Stewart platform configurations (architectures and poses) optimizing local dexterity are
investigated. The condition number of the Jacobian matrix is used to quantify the dexterity of …